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micro-ROS / micro_ros_stm32cubemx_utils

A set of utilities for integrating micro-ROS in a STM32CubeMX project
Apache License 2.0
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STM32 and ROS 2 Humble connection problem #144

Open omerdurmus61 opened 3 months ago

omerdurmus61 commented 3 months ago

I am using the STM32F411 Discovery board and working with STM32CubeIDE. I followed the STM32CubeIDE configuration steps provided in this repository. However, when I run the command ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0 -v6, the output is as follows

000: 81 80 9C 07 07 01 08 00 07 A6 00 05 98 07 00 00
[1716277666.851664] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
0000: 98 07 00 00
[1716277666.851836] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x45402441, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 9D 07 00 00 80
[1716277666.868476] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x45402441, len: 16, data: 
0000: 81 80 9D 07 07 01 08 00 07 A7 00 05 99 07 00 00
[1716277666.868647] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
0000: 99 07 00 00
[1716277666.868796] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x45402441, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 9E 07 00 00 80
[1716277666.885429] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x45402441, len: 16, data: 
0000: 81 80 9E 07 07 01 08 00 07 A8 00 05 9A 07 00 00
[1716277666.885641] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
0000: 9A 07 00 00
[1716277666.885805] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x45402441, len: 13, data: 
0000: 81 00 00 00 0A 01 05 00 9F 07 00 00 80
[1716277666.902445] debug    | SerialAgentLinux.cpp | recv_message             | [==>> SER <<==]        | client_key: 0x45402441, len: 16, data: 
0000: 81 80 9F 07 07 01 08 00 07 A9 00 05 9B 07 00 00
[1716277666.902643] debug    | DataWriter.cpp     | write                    | [** <<DDS>> **]        | client_key: 0x00000000, len: 4, data: 
0000: 9B 07 00 00
[1716277666.902794] debug    | SerialAgentLinux.cpp | send_message             | [** <<SER>> **]        | client_key: 0x45402441, len: 13, data:
MehmetZekiSildir commented 3 months ago

the same as my problem.

pablogs9 commented 3 months ago

Your configuration is sending messages to DDS, check [** <<DDS>> **] logs. How are you checking the reception on the ROS 2 side?